Revision 61b0791a components/bluetooth/bluetooth-wiimote.cpp

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components/bluetooth/bluetooth-wiimote.cpp
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#include <amiro/bluetooth/bluetooth-wiimote.hpp>


  		




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#include <global.hpp>


  		




  
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using namespace chibios_rt;


  		




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using namespace amiro;


  		




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extern Global global;


  		




  
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/*


  		




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 * Class constructor


  		




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 */


  		




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  size_t length;


  		




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  msg_t msg;


  		




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  static uint8_t button_up;


  		




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  static uint8_t button_down;


  		




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  static uint8_t button_right;


  		




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  static uint8_t button_left;


  		




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  static uint8_t button_plus;


  		




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  static uint8_t button_home;


  		




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  static uint8_t button_minus;


  		




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  static uint8_t button_A;


  		




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  static uint8_t button_B;


  		




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  static uint8_t button_1;


  		




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  static uint8_t button_2;


  		




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  msg = mailbox.fetch((msg_t*) &recv_descriptor, TIME_INFINITE);


  		




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  if ((msg == RDY_RESET) || stopflag)


  		




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    return RDY_RESET;


  		




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  buffer = recv_descriptor->bluetoothDescriptorGetPayload();


  		




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  length = recv_descriptor->bluetoothDescriptorGetPayloadLength();


  		




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  if (buffer[0] == 0xA1 && buffer[1] == 0x31) {


  		




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    accelerometer.x_axis = (buffer[4] << 2) + ((buffer[2] & 0x60) >> 5) - 0x1EC;


  		




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    accelerometer.y_axis = (buffer[5] << 2) + ((buffer[3] & 0x20) >> 4) - 0x1EA;


  		




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    accelerometer.z_axis = (buffer[6] << 2) + ((buffer[3] & 0x40) >> 5) - 0x1EE;


  		




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    if (buffer[3] & 0x80) {             // Press home to return button reporting


  		




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      bluetoothWiimoteDataBtn();


  		




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      accelerometer.x_axis = 0;


  		




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      accelerometer.y_axis = 0;


  		




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      accelerometer.z_axis = 0;


  		




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    }


  		




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  } else if (buffer[0] == 0xA1 && buffer[1] == 0x30) {


  		




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    button_up    = (buffer[2] & 0x08) >> 3;


  		




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    button_down  = (buffer[2] & 0x04) >> 2;


  		




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    button_right = (buffer[2] & 0x02) >> 1;


  		




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    button_left  = (buffer[2] & 0x01) >> 0;


  		




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    button_plus  = (buffer[2] & 0x10) >> 4;


  		




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    button_home  = (buffer[3] & 0x80) >> 7;


  		




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    button_minus = (buffer[3] & 0x10) >> 4;


  		




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    button_A     = (buffer[3] & 0x08) >> 3;


  		




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    button_B     = (buffer[3] & 0x04) >> 2;


  		




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    button_1     = (buffer[3] & 0x02) >> 1;


  		




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    button_2     = (buffer[3] & 0x01) >> 0;


  		




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    if (button_up)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'U');


  		




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    if (button_down)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'D');


  		




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    if (button_right)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'R');


  		




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    if (button_left)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'L');


  		




  
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  if (buffer[0] == 0xA1 && (buffer[1] == 0x30 || buffer[1] == 0x31)) {


  		




  
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      buttons.left  = (buffer[2] & 0x01) ? 1 : 0;


  		




  
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      buttons.right = (buffer[2] & 0x02) ? 1 : 0;


  		




  
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      buttons.down  = (buffer[2] & 0x04) ? 1 : 0;


  		




  
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      buttons.up    = (buffer[2] & 0x08) ? 1 : 0;


  		




  
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      buttons.plus  = (buffer[2] & 0x10) ? 1 : 0;


  		




  
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      buttons.two   = (buffer[3] & 0x01) ? 1 : 0;


  		




  
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      buttons.one   = (buffer[3] & 0x02) ? 1 : 0;


  		




  
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      buttons.B     = (buffer[3] & 0x04) ? 1 : 0;


  		




  
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      buttons.A     = (buffer[3] & 0x08) ? 1 : 0;


  		




  
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      buttons.minus = (buffer[3] & 0x10) ? 1 : 0;


  		




  
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      buttons.home  = (buffer[3] & 0x80) ? 1 : 0;


  		




  
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      accelerometer.x_axis = (buffer[4] << 2) + ((buffer[2] & 0x60) >> 5) - 0x1FF;


  		




  
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      accelerometer.y_axis = (buffer[5] << 2) + ((buffer[3] & 0x20) >> 4) - 0x1FF;


  		




  
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      accelerometer.z_axis = (buffer[6] << 2) + ((buffer[3] & 0x40) >> 5) - 0x1FF;


  		




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    if (button_plus)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '+');


  		




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    if (button_home)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'H');


  		




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    if (button_minus)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '-');


  		




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    if (button_A)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'A');


  		




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    if (button_B)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'B');


  		




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    if (button_1)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '1');


  		




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    if (button_2)


  		




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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '2');


  		




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    if (button_minus && button_plus)   // Press minus and plue to return accelerometer reporting


  		




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      bluetoothWiimoteDataBtnAcc();


  		




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  } else {


  		




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    chSequentialStreamWrite((BaseSequentialStream*) &SD1, buffer, length);


  		




  
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    chSequentialStreamWrite((BaseSequentialStream*) &global.sercanmux1, buffer, length);


  		




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  }


  		




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  msg = iwrap->transport.bluetoothTransportGetStorageMailbox()->post((msg_t) recv_descriptor, TIME_INFINITE);


  		




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  return &accelerometer;


  		




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}


  		




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BluetoothWiimote::Buttons * BluetoothWiimote::getButtons() {


  		




  
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  return &buttons;


  		




  
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}


  		




  
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/*


  		




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 * @brief :  On-off LEDs and Motor of Wiimote.


  		




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 *


  		












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